Crying when I hold my baby, but anxious when anyone does. Is this normal?

My son is 5wk old and I've been having to hold him nonstop since he was born due to terrible acid reflux. I absolutely hate asking for help, but am physicality and mentality exhausted. I asked my MIL/FIL to come for a few days just so I can catch up on sleep. (Only getting 3-4hrs a day)

I've been in tears while having to hold him so much, but now that help is here I can't relax when I hear him crying in another room. I trust their judgement and know they are taking care of him, but he's so difficult to calm down. I know it's ridiculous, but I feel like I'm the only person that can calm him down and that I'm being a terrible mom by letting him cry in another room. They are trying to give me breaks so I can sleep, but it's just making me more anxious and my sleep has gotten worse. Any advice for how to handle this so I can get some sleep?

Background: my 1st son was born at the beginning of the Covid shutdown, so we didn't have any options for help. I was forced to make it work no matter what happened. Having help here makes me feel like a failure.